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此文档需提前安装ROS–Noetic,如若未安装,可运行以下命令进行一键安装(感谢鱼香大佬)
wget http://fishros.com/install -O fishros && . fishros
sudo gedit /etc/hosts
具体ip地址自行通过ip查询网站搜索,并将ip与以下两个域名对应,添加到hosts文件中
ip raw.githubusercontent.com
ip www.github.com
pip3 install sphinx==6.1.3
参考[官方文档](Compiling Cartographer ROS — Cartographer ROS documentation (google-cartographer-ros.readthedocs.io))
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
bash src/cartographer/scripts/install_abseil.sh
catkin_make_isolated --install --use-ninja